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Draw Box on view and pcplayer

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Mert Saracoglu
Mert Saracoglu on 16 Sep 2020
Edited: Aditya Patil on 24 Sep 2020
Hi guys, I'm currently working on pointclouds generated from LiDAR sensors. My goal is to detect the object and draw a bounding box around it.
I can calculate the coordinates of the corner points of the bounding box. However, I do not know how can I draw the bounding box dynamically into the pcplayer view that I'm visualizing my pointcloud.
How can I visualize both my pointcloud and also draw the bounding box dynamically on the same view?
Thanks in advance.
This is my code :
veloReader = velodyneFileReader('%pathtomypcapfile%','VLP16');
duration = 150; % seconds %
xlimits = [-60 60];
ylimits = [-60 60];
zlimits = [-5 50];
player = pcplayer(xlimits,ylimits,zlimits);
xlabel(player.Axes,'X (m)');
ylabel(player.Axes,'Y (m)');
zlabel(player.Axes,'Z (m)');
veloReader.CurrentTime = veloReader.StartTime + seconds(0.3);
while(hasFrame(veloReader) && player.isOpen() && (veloReader.CurrentTime < veloReader.StartTime + seconds(duration)))
ptCloud = readFrame(veloReader);
cornerpoints = myFunctionToCalculateBoundingBox(ptCloud);
view(player,ptCloud.Location,ptCloud.Intensity);
pause(0.05);
end
and myFunctionToCalculateBoundingBox returns points as 8x3 matrix :
>> cornerpoints
cornerpoints =
0.9205 25.9202 5.9978
0.9655 7.6629 0.1411
0.2301 7.6634 0.1338
0.1852 25.9207 5.9905
0.9206 25.9228 5.9896
0.9656 7.6655 0.1329
0.2302 7.6660 0.1256
0.1853 25.9233 5.9823

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Answers (1)

Aditya Patil
Aditya Patil on 24 Sep 2020
Edited: Aditya Patil on 24 Sep 2020
In R2020b, we have released the Lidar labeler app that will allow you to visualize and label Lidar datasets. You can Get Started with the Lidar Labeler documentation.

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